Error when compiling tutorial-pose-from-planar-object.cpp

[Alkrick]

I get the following error when compiling the code using cmake in tutorial-pose-from-planar-object.cpp

error: ‘computePlanarObjectPoseWithAtLeast3Points’ is not a member of ‘vpPose’
  413 |   const auto cMo = vpPose::computePlanarObjectPoseWithAtLeast3Points(obj_plane_in_color, model.keypoints(),

I tried setting "std=c++17" in compile options and editing the file vpPose.h in /vision directory and commenting out the #if statement surrounding that part of the code but it didn't work

[fspindle]

vpPose::computePlanarObjectPoseWithAtLeast3Points()was introduced last week in the master branch. Your error means that you are linking with a version (maybe the last release) of ViSP that doesn't embed this new function.

The workaround is to uninstall old visp versions and use the one from github master branch.

[Alkrick]

Thanks for your reply,

I downloaded the repository the same day I posted this issue and It is my first time using visp, I still made sure by reinstalling from the master branch again but the same problem occurs.

On both instances along with the previous error I got:

   error: ‘map’ in namespace ‘std’ does not name a template type
       71 |   std::map<Id, vpPoint> keypoints(const vpHomogeneousMatrix &cMo = {}) const;

upon checking the vpPose.h in the visp3/vision/ directory, I found that the both the <map

#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_17) &&                                                                     \
    (!defined(_MSC_VER) || ((VISP_CXX_STANDARD >= VISP_CXX_STANDARD_17) && (_MSC_VER >= 1911)))
#include <map>
#include <optional>
#endif

Which seems to evaluate to false for me.

My exact installation process that produces this error is:

git clone https://github.com/lagadic/visp.git mkdir build && cd build cmake -DCMAKE_CXX_FLAGS="-std=c++17" .. make -j8

I am on Ubuntu 20.04.

I tried using the latest release 3.5.0 and it compiled successfully, so I am using it for the meantime.

[fspindle]

You don't have to add "-std=c++17" build option. Try a fresh build with:

$ rm -rf build
$ mkdir build
$ cd build
$ cmake ..

Check which c++ standard is used by default:

$ grep "standard" ViSP-third-party.txt 
    Use cxx standard:            17

and then try a fresh build

$ make -j8

It could be possible that on your platform c++17 is not supported.

If it doesn't build, try setting c++ standard to c++14 using:

$ cd build
$ cmake ../ -DUSE_CXX_STANDARD=14
$ make -j8

Let me know about these tests...

[Alkrick]

I tried a fresh build and made sure that the default c++ standard is 17 as per your instructions but I still got the same error. However, setting the standard to c++14 seemed to work and it compiled successfully.

[fspindle]

What is your OS and version ?

[Alkrick]

As mentioned above it's Ubuntu 20.04.04.

[fspindle]

I'm unable to reproduce your build error on Ubuntu 20.04.04.

Can you get the last version:

$ cd visp_ws/visp
$ git pull

an try a build again

$ cd ../visp-build
$ make -j4

and if it fails attach the content of visp-build/ViSP-third-party.txt

[Alkrick]

It compiled successfully earlier after changing the CXX Standard to c++14, switching it back to c++17 produces the same error even on the latest version, these are the contents of ViSP-third-party.txt :

==========================================================
General configuration information for ViSP 3.5.1

  Version control:               v3.5.0-70-g262a3fedb

  Platform:
    Timestamp:                   2022-04-21T11:13:56Z
    Host:                        Linux 5.13.0-39-generic x86_64
    CMake:                       3.16.3
    CMake generator:             Unix Makefiles
    CMake build tool:            /usr/bin/make
    Configuration:               Release

  C/C++:
    Built as dynamic libs?:      yes
    C++ Compiler:                /usr/bin/c++  (ver 9.4.0)
    C++ flags (Release):         -Wall -Wextra -fopenmp -std=c++17 -fvisibility=hidden -msse2 -msse3 -mssse3 -fPIC -O3 -DNDEBUG
    C++ flags (Debug):           -Wall -Wextra -fopenmp -std=c++17 -fvisibility=hidden -msse2 -msse3 -mssse3 -fPIC -g
    C Compiler:                  /usr/bin/cc
    C flags (Release):           -Wall -Wextra -fopenmp -std=c++17 -fvisibility=hidden -msse2 -msse3 -mssse3 -fPIC -O3 -DNDEBUG
    C flags (Debug):             -Wall -Wextra -fopenmp -std=c++17 -fvisibility=hidden -msse2 -msse3 -mssse3 -fPIC -g
    Linker flags (Release):      
    Linker flags (Debug):        

  ViSP modules:
    To be built:                 core gui imgproc io java_bindings_generator klt me sensor ar blob robot visual_features vs vision detection mbt tt tt_mi
    Disabled:                    -
    Disabled by dependency:      -
    Unavailable:                 java

  Python (for build):            /usr/bin/python

  Java:                          
    ant:                         NO
    JNI:                         NO

  Build options: 
    Build deprecated:            yes
    Build with moment combine:   no

  Mathematics: 
    Blas/Lapack:                 yes
    \- Use MKL:                  no
    \- Use OpenBLAS:             no
    \- Use Atlas:                yes
    \- Use Netlib:               no
    \- Use GSL:                  no
    \- Use Lapack (built-in):    no
    Use Eigen3:                  yes (ver 3.3.7)
    Use OpenCV:                  yes (ver 4.5.5)

  Simulator: 
    Ogre simulator: 
    \- Use Ogre3D:               yes (ver 1.9.0)
    \- Use OIS:                  yes (ver 1.3.0)
    Coin simulator: 
    \- Use Coin3D:               yes (ver 4.0.0)
    \- Use SoWin:                no
    \- Use SoXt:                 no
    \- Use SoQt:                 no
    \- Use Qt5:                  no
    \- Use Qt4:                  no
    \- Use Qt3:                  no

  Media I/O: 
    Use JPEG:                    yes (ver 80)
    Use PNG:                     yes (ver 1.6.37)
    \- Use ZLIB:                 yes (ver 1.2.11)
    Use OpenCV:                  yes (ver 4.5.5)
    Use stb_image (built-in):    no

  Real robots: 
    Use Afma4:                   no
    Use Afma6:                   no
    Use Franka:                  no
    Use Viper650:                no
    Use Viper850:                no
    Use Kinova Jaco:             no
    Use aria (Pioneer):          no
    Use PTU46:                   no
    Use Biclops PTU:             no
    Use Flir PTU SDK:            no
    Use Parrot ARSDK:            no
    \-Use ffmpeg:                no
    Use Virtuose:                no
    Use qbdevice (built-in):     yes (ver 2.6.0)
    Use takktile2 (built-in):    yes (ver 1.0.0)

  GUI: 
    Use X11:                     yes
    Use GTK:                     no
    Use OpenCV:                  yes (ver 4.5.5)
    Use GDI:                     no
    Use Direct3D:                no

  Cameras: 
    Use DC1394-2.x:              yes (ver 2.2.5)
    Use CMU 1394:                no
    Use V4L2:                    yes (ver 1.18.0)
    Use directshow:              no
    Use OpenCV:                  yes (ver 4.5.5)
    Use FLIR Flycapture:         no
    Use Basler Pylon:            no
    Use IDS uEye:                no

  RGB-D sensors: 
    Use Realsense:               no
    Use Realsense2:              yes (ver 2.50.0)
    Use Occipital Structure:     no
    Use Kinect:                  yes
    \- Use libfreenect:          yes (ver 0.5)
    \- Use libusb-1:             yes (ver 1.0.23)
    \- Use pthread:              yes
    Use PCL:                     yes (ver 1.10.0)
    \- Use VTK:                  yes (ver 7.1.1)

  F/T sensors: 
    Use atidaq (built-in):       no
    Use comedi:                  no
    Use IIT SDK:                 no

  Detection: 
    Use zbar:                    yes (ver 0.23)
    Use dmtx:                    yes (ver 0.7.5)
    Use AprilTag (built-in):     yes (ver 3.1.1)
    \- Use AprilTag big family:  no

  Misc: 
    Use Clipper (built-in):      yes (ver 6.4.2)
    Use pugixml (built-in):      yes (ver 1.9.0)
    Use libxml2:                 yes (ver 2.9.10)

  Optimization: 
    Use OpenMP:                  yes
    Use pthread:                 yes
    Use pthread (built-in):      no
    Use cxx standard:            17

  DNN: 
    Use CUDA Toolkit:            no
    Use TensorRT:                no

  Documentation: 
    Use doxygen:                 yes
    \- Use mathjax:              no

  Tests and samples:
    Use catch2 (built-in):       yes (ver 2.13.7)
    Tests:                       yes
    Demos:                       yes
    Examples:                    yes
    Tutorials:                   yes

  Install path:                  /usr/local

==========================================================

[fspindle]

Thanks.

1. Can you also attach the full build error
2. What is the result of the following command:

   $ cd visp-build
   $ grep VISP_CXX_STANDARD include/visp3/core/vpConfig.h 

[Alkrick]

I apologize for the late response, I was unable to access my workstation for a while.

The full build error is attached here and the output of the command you provided is as follows:

#define VISP_CXX_STANDARD_98 199711L
#define VISP_CXX_STANDARD_11 201103L
#define VISP_CXX_STANDARD_14 201402L
#define VISP_CXX_STANDARD_17 201703L
#define VISP_CXX_STANDARD 201703L
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)

[fspindle]

@Alkrick Incredible!

Can you add #include <map> in tutorial/computer-vision/tutorial-pose-from-planar-object.cpp at line 2 and try a new build.

[Alkrick]

I have attempted this before, it solves the first part of the error that appears as on the file attached above, however the error in the original post of this issue still persists, this is the current output after including

 [ 84%] Building CXX object tutorial/grabber/CMakeFiles/tutorial-grabber-structure-core.dir/tutorial-grabber-structure-core.cpp.o
/home/xuande/My/extLibs/visp/tutorial/computer-vision/tutorial-pose-from-planar-object.cpp: In function ‘int main(int, char**)’:
/home/xuande/My/extLibs/visp/tutorial/computer-vision/tutorial-pose-from-planar-object.cpp:413:28: error: ‘computePlanarObjectPoseWithAtLeast3Points’ is not a member of ‘vpPose’
  413 |   const auto cMo = vpPose::computePlanarObjectPoseWithAtLeast3Points(obj_plane_in_color, model.keypoints(),
      |                            ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
make[2]: *** [tutorial/computer-vision/CMakeFiles/tutorial-pose-from-planar-object.dir/build.make:63: tutorial/computer-vision/CMakeFiles/tutorial-pose-from-planar-object.dir/tutorial-pose-from-planar-object.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:19330: tutorial/computer-vision/CMakeFiles/tutorial-pose-from-planar-object.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....

[fspindle]

@Alkrick I'm quite sure that you have an older visp version installed in /usr or /opt/ros and that the tutorial is going to be linked with this version of visp that doesn't embed vpPose::computePlanarObjectPoseWithAtLeast3Points().

1. First you need to identify if you have multiple visp versions installed

   $ sudo updatedb
   $ locate VISPConfig.cmake

   At this point, if I'm right you should see a VISPConfig.cmake file located in /opt/ros or /usr

2. Uninstall visp from /opt/ros or /usr Here you can use synaptic to remove ros-noetic-visp or libvisp-dev packages

3. Clean potential changes introduced in visp_ws/visp

4. Try a new build

   $ cd visp_ws/visp-build
   $ make -j4

[fspindle]

@Alkrick Any update ? Otherwise will be closed

[Alkrick]

@fspindle I apologize for the late response. Unfortunately I won't be able to access the workstation on which this error occurred for a while. You are right I have a different version installed but I doubt that its the cause of the error, since I installed it after getting the error (as mentioned by the last line on my second entry to this thread)

[fspindle]

@Alkrick Ok I will close the thread for now. Don't hesitate to open a new one if you are able to reproduce the error. I'm 100% sure that it comes from multiple ViSP versions installed on your system.

[lijie942]

First of all, thank you very much for your help, I did make the mistake you pointed out - installing multiple versions of visp ros-noetic-visp.